From eebb620e38603f775c8bfd608d99ed23cdf44e85 Mon Sep 17 00:00:00 2001 From: aarav18 Date: Thu, 2 Dec 2021 17:56:35 -0700 Subject: [PATCH] pid --- src/main/java/frc4388/robot/subsystems/SwerveDrive.java | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java index 0544526..149bcc7 100644 --- a/src/main/java/frc4388/robot/subsystems/SwerveDrive.java +++ b/src/main/java/frc4388/robot/subsystems/SwerveDrive.java @@ -82,9 +82,11 @@ public class SwerveDrive m_leftFrontWheelMotor.set(m_leftFrontSteerMotor.get() + leftFront.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED); m_rightFrontWheelMotor.set(m_rightFrontSteerMotor.get() + rightFront.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED); - m_leftBackWheelMotor.set(m_leftBackSteerMotor.get() + lefBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED); + m_leftBackWheelMotor.set(m_leftBackSteerMotor.get() + leftBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED); m_rightBackWheelMotor.set(m_rightBackSteerMotor.get() + rightBack.speedMetersPerSecond * SwerveDriveConstants.WHEEL_SPEED); + // PID + } // public void driveFieldRelative(double awayFromStation, double towardLeftBoundary, double rotate)